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                <h1 class="title-article" id="articleContentId">rviz中使用MarkerArray绘制地图线</h1>
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                    <h3 id="%E5%8F%82%E8%80%83%E5%86%85%E5%AE%B9%EF%BC%9A"><strong>参考内容&#xff1a;</strong></h3> 
<p>1. <a href="http://wiki.ros.org/ROS/Tutorials">ROS Tutorials</a></p> 
<p>2. <a href="http://wiki.ros.org/rviz">rviz - ROS Wiki</a></p> 
<p>3. <a href="https://blog.csdn.net/ktigerhero3/article/details/70256437">ROS在rviz中实时显示轨迹&#xff08;nav_msgs/Path消息的使用&#xff09;</a></p> 
<p>4. <a href="https://blog.csdn.net/ktigerhero3/article/details/80483802">ROS在rviz中的不同位置显示文字(visualization_msgs::MarkerArray的使用)</a></p> 
<h3 id="%E6%96%87%E7%AB%A0%E5%86%85%E5%AE%B9%EF%BC%9A"><strong>文章内容&#xff1a;</strong></h3> 
<p>1. 读取导航坐标csv文件数据</p> 
<p>2.<strong> </strong>使用rviz - ros显示数据&#xff0c;得到MarkerArray的地图线条&#xff0c;即ROS数据可视化</p> 
<p> </p> 
<h3>一. 分析准备</h3> 
<p>1. rviz/DisplayTypes - Markers - <a href="http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html"><span style="color:#7c79e5;">visualization_msgs/MarkerArray</span></a>的使用。</p> 
<p>    因为依靠地图上的点连线来绘制地图&#xff0c;如果只使用<a href="http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html"><span style="color:#7c79e5;">visualization_msgs/Marker</span></a>的LINE_STRIP&#61;4&#xff0c;会出现地图线交叉&#xff0c;出现错误。所以使用<a href="http://docs.ros.org/api/visualization_msgs/html/msg/MarkerArray.html"><span style="color:#7c79e5;">visualization_msgs/MarkerArray</span></a>将地图各个路段存入数组&#xff0c;分别进行绘制。</p> 
<p>2. 使用MakerArray中的<span style="color:#7c79e5;">Line Strip (LINE_STRIP&#61;4)</span>来绘制线段&#xff0c;使用<span style="color:#7c79e5;">Points (POINTS&#61;8)</span>来绘制点</p> 
<p> </p> 
<h3>二. 地图线绘制</h3> 
<p>1. 新建工程</p> 
<pre class="has"><code>$ mkdir -p MapLine/src
$ cd MapLine
$ catkin_make
$ source devel/setup.bash

$ cd src
$ catkin_create_pkg using_markerarray roscpp visualization_msgs</code></pre> 
<p>2. 编辑node文件MapLine.cpp</p> 
<pre class="has"><code>$ roscd using_markerarray
$ mkdir -p src</code></pre> 
<p>   创建MapLine.cpp&#xff0c;如下&#xff1a;</p> 
<pre class="has"><code class="language-cpp">/*
 * Show Line of CARLA 0.9.1 Town1
 */
#include &lt;iostream&gt;
#include &lt;fstream&gt;
#include &lt;sstream&gt;
#include &lt;vector&gt;
#include &lt;string&gt;

#include &lt;ros/ros.h&gt;
#include &lt;visualization_msgs/Marker.h&gt;
#include &lt;visualization_msgs/MarkerArray.h&gt;

#include &lt;cmath&gt;

using namespace std;

int main(int argc, char** argv)
{
    vector&lt;double&gt; location_x, location_y, location_z;
    /* Read data from point_right.csv */
    ifstream fin(&#34;Topology.csv&#34;);
    string line;
    while (getline(fin, line)) 
    {
        istringstream sin(line);
        vector&lt;string&gt; Waypoints;
        string info;
        while (getline(sin, info, &#39;,&#39;)) {
            Waypoints.push_back(info);
        }
        // Get x,y,z of points and transform to double
        string x_str &#61; Waypoints[3];
        string y_str &#61; Waypoints[4];
        string z_str &#61; Waypoints[5];
        double x, y, z;
        stringstream sx, sy, sz;
        sx &lt;&lt; x_str;
        sy &lt;&lt; y_str;
        sz &lt;&lt; z_str;
        sx &gt;&gt; x;
        sy &gt;&gt; y;
        sz &gt;&gt; z;
        //cout &lt;&lt; &#34;x&#61; &#34; &lt;&lt; x &lt;&lt; &#34;  &#34; &lt;&lt; &#34;y&#61; &#34; &lt;&lt; y &lt;&lt; &#34;  &#34; &lt;&lt; &#34;z&#61; &#34; &lt;&lt; z &lt;&lt; endl;
        cout &lt;&lt; &#34;Read data done!&#34; &lt;&lt; endl;

        location_x.push_back(x);
        location_y.push_back(y);
        location_z.push_back(z);
    }

    /* Define Marker Line */
    ros::init(argc, argv, &#34;MapLine&#34;);
    ros::NodeHandle n;
    ros::Publisher markerArray_pub &#61; n.advertise&lt;visualization_msgs::MarkerArray&gt;(&#34;MarkerArray&#34;, 10);
    ros::Rate r(1);

    
    while (ros::ok())
    {
        visualization_msgs::MarkerArray lines, MapPoints;
        for (int i &#61; 1; i &lt; location_x.size(); i&#61;i&#43;2)
        {
            // Create lines and points
            visualization_msgs::Marker line_strip, points;
            line_strip.header.frame_id &#61; points.header.frame_id &#61; &#34;/my_frame&#34;;
            line_strip.header.stamp &#61; points.header.stamp &#61; ros::Time::now();
            line_strip.ns &#61; points.ns &#61; &#34;points_and_lines&#34;;
            line_strip.action &#61; points.action &#61; visualization_msgs::Marker::ADD;
            //line_strip.pose.orientation.w &#61; 1.0;
            line_strip.id &#61; i;
            line_strip.type &#61; visualization_msgs::Marker::LINE_STRIP;
            line_strip.scale.x &#61; 0.1;
            line_strip.color.g &#61; 1.0;
            line_strip.color.a &#61; 1.0;

            points.id &#61; 0;
            points.type &#61; visualization_msgs::Marker::POINTS;
            points.scale.x &#61; 2;
            points.scale.y &#61; 2;

            points.color.r &#61; 1.0f;
            points.color.a &#61; 1.0;

            // line_strip obtains points
            geometry_msgs::Point p, q;
            p.x &#61; location_x[i];
            p.y &#61; location_y[i];
            p.z &#61; location_z[i];
            q.x &#61; location_x[i&#43;1];
            q.y &#61; location_y[i&#43;1];
            q.z &#61; location_z[i&#43;1];
            cout &lt;&lt; i &lt;&lt; &#34;x&#61; &#34; &lt;&lt; location_x[i] &lt;&lt; &#34;   &#34; &lt;&lt; &#34;y&#61; &#34; &lt;&lt; location_y[i] &lt;&lt; endl; 
            cout &lt;&lt; i&#43;1 &lt;&lt; &#34;x&#61; &#34; &lt;&lt; location_x[i&#43;1] &lt;&lt; &#34;   &#34; &lt;&lt; &#34;y&#61; &#34; &lt;&lt; location_y[i&#43;1] &lt;&lt; endl;
            cout &lt;&lt; endl &lt;&lt; endl;

            line_strip.points.push_back(p);        
            line_strip.points.push_back(q);
            points.points.push_back(p);
            points.points.push_back(q);

            lines.markers.push_back(line_strip);
            MapPoints.markers.push_back(points);         
        }

        cout &lt;&lt; &#34;MarkerArray lines size: &#34; &lt;&lt; lines.markers.size() &lt;&lt; endl;
        markerArray_pub.publish(lines);
        markerArray_pub.publish(MapPoints);
        r.sleep();
    }

    cout &lt;&lt; &#34;Right Line Done!&#34;;
    return 0;
}
</code></pre> 
<p> 代码命令含义可以查看<span style="color:#3399ea;">ROS官方rviz的实例</span>&#xff0c;讲解的很清楚。可以对比本文中MarkerArray的使用了解。</p> 
<p>3. CMakeLists.txt添加内容</p> 
<p>    在最后加入&#xff1a;</p> 
<pre class="has"><code class="language-bash">add_executable(MapLine src/MapLine.cpp)
target_link_libraries(MapLine ${catkin_LIBRARIES})</code></pre> 
<p>4. 编译并运行&#xff1a;</p> 
<pre class="has"><code>$ cd ~/MapLine
$ catkin_make

$ rosrun using_markerarray MapLine</code></pre> 
<p>    查看/trajectory 信息</p> 
<pre class="has"><code>rostopic echo /trajectory</code></pre> 
<h3>三. rviz中查看结果</h3> 
<p>    运行rviz</p> 
<pre class="has"><code>$ rosrun rviz rviz</code></pre> 
<p>    查看MarkerArray类型</p> 
<p><img alt="" class="has" height="437" src="https://img-blog.csdnimg.cn/20181218151603556.png?x-oss-process&#61;image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM1Mjc3MDM4,size_16,color_FFFFFF,t_70" width="600" /></p>
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                            <div class="share-dec">参考内容：1. ROS Tutorials2. rviz - ROS Wiki3. ROS在rviz中实时显示轨迹（nav_msgs/Path消息的使用）4. ROS在rviz中的不同位置显示文字(visualization_msgs::MarkerArray的使用)文章内容：1. 读取导航坐标csv文件数据2. 使用rviz - ros显示数据，得到MarkerArr...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>rviz</em>_plugins_无人机路径规划3D插件_<em>ROS</em>_buildingd41_</div>
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					<span class="info-block">09-29</span>
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				<div class="desc ellipsis-online ellipsis-online-1">可以在<em>ros</em><em>RVIZ</em> 下<em>使用</em>，拓展2D功能。我借鉴别人的，侵删</div>
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2、publish_utils.py


3、data_utils.py


4、下载的dae文件夹所放的位置如下图 5、在下图所示的终端运行 6、效果图 我的dae文件老是报错 知道的同学可以评论一下，感谢批评指正</div>
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2 <em>使用</em>Points, Line Strips, and Line Lists
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				<div class="desc ellipsis-online ellipsis-online-1">注意：

再学习本系列教程时，应该已经安装过<em>ROS</em>了并且需要有一些<em>ROS</em>的基本知识

ubuntu版本：20.04
<em>ros</em>版本：noetic
课程回顾
<em>ROS</em>1结合自动驾驶数据集Kitti开发教程(一)Kitti资料介绍和可视化
<em>ROS</em>1结合自动驾驶数据集Kitti开发教程(二)发布图片
<em>ROS</em>1结合自动驾驶数据集Kitti开发教程(三)发布点云数据
<em>ROS</em>1结合自动驾驶数据集Kitti开发教程(四)画出自己车子模型以及照相机视野
<em>ROS</em>1结合自动驾驶数据集Kitti开发教程(五)发布IMU数据
<em>ROS</em>1结</div>
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				<div class="desc ellipsis-online ellipsis-online-1">#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;visualization_msgs/<em>Marker</em>.h&gt;

int main(int argc, char** argv) {
  <em>ros</em>::init(argc, argv, &quot;showline&quot;);
  <em>ros</em>::NodeHandle n;
  <em>ros</em>::Publisher <em>marker</em>_pub =
      n.advertise&lt;visualization_msgs::<em>Marker</em>&gt;(&quot;visualiz</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>rviz</em>学习笔记（二）&mdash;&mdash;<em>Marker</em>s: Points and Lines (C++) 点和<em>线</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">一、在using_<em>marker</em>/src<em>中</em>编写点和<em>线</em>代码

vim ~/catkin_ws/src/using_<em>marker</em>/src/points_and_lines.cpp

&nbsp;
　　编写代码，其<em>中</em>有注释

#include &amp;lt;<em>ros</em>/<em>ros</em>.h&amp;gt;
#include &amp;lt;visualization_msgs/<em>Marker</em>.h&amp;gt;

#include &amp;lt;cmath&amp;gt;
...</div>
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首先要能轻松改变曲<em>线</em>端点位置，若是自己开发QT界面可以开心地<em>使用</em>QDrag制作拖拽图标作为曲<em>线</em>的可拖拽端点，但<em>rviz</em>仅...</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>RVIZ</em>提供了两种官方支持的<em>RVIZ</em>可视化插件，分别是<em>rviz</em>_<em>marker</em>和<em>rviz</em>_<em>marker</em>_<em>array</em>， 作用是显示一些圆形，圆柱等可视化<em>marker</em>，前者是一次显示一个<em>marker</em>对象，后者是一次显示一系列的<em>marker</em>对象。

具体<em>使用</em>方法可以见<em>ROS</em> tutorial：https://wiki.<em>ros</em>.org/<em>rviz</em>/Tutorials/<em>Marker</em>s%3A%20Points%20and%20Lines



问题描述： 在添加了<em>Marker</em>之后，设置<em>marker</em>的 duration_..</div>
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				<div class="desc ellipsis-online ellipsis-online-1">文章目录1. 描述2. 代码3. 结果
1. 描述
记录一下 <em>Marker</em><em>Array</em> 的<em>使用</em>
2. 代码
#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;sensor_msgs/PointCloud2.h&gt;
#include &lt;visualization_msgs/<em>Marker</em>.h&gt;
#include &lt;visualization_msgs/<em>Marker</em><em>Array</em>.h&gt;
#include &lt;iostream&gt;
#include &amp;lt</div>
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介绍 
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<em>使用</em>Points, Line Strips, 和 Line Li</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Rviz</em>显示地图</div>
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				<div class="desc ellipsis-online ellipsis-online-1">                <em>ROS</em>提供了非常强大的图形化模拟环境&nbsp;<em>RViz</em>，这个&nbsp;<em>RViz</em> 能做的事情非常多。今天我们学习一下如何<em>使用</em>&nbsp;<em>RViz</em> 对机器人在路径探索过程<em>中</em>对地图动态观测。我们将学习重放已经采集的数据来模拟机器人输入，从而将精力放到SLAM和地图的建立以及<em>RViz</em>的<em>使用</em>上。下面是效果图:一 基本概念<em>ROS</em> 对机器人导航提供了非常强大的支持，这可以让我们在不了解细节和海量复杂无比的...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">前言
最近,在复现一篇激光雷达检测障碍物的文献,在将雷达数据进行聚类后,需要观察聚类的效果,这个时候需要用<em>Rviz</em>标记,绘制标记框,把学习过程记录一下,方便后续查阅,也有助与于分享给别人作参考.

...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Rviz</em>可视化工具<em>Marker</em>示例：目标检测画矩形框</div>
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				<div class="desc ellipsis-online ellipsis-online-1">需求
经目标检测算法识别出目标后，需要以目标为<em>中</em>心画一个矩形框，将目标框出，在<em>Rviz</em><em>中</em>显示。
所用的工具为<em>ROS</em>的<em>marker</em>消息类型。<em>Marker</em>显示允许各种基本形状的可编程添加到3D显示，通过发送visualization_msgs/<em>Marker</em> 来实现可视化。
先看效果

头文件包含
<em>ros</em>::Publisher <em>marker</em>_pub = nh.advertise&lt;visualization_msgs::<em>Marker</em>&gt;(&quot;/visualization_<em>marker</em>&quot;, 10);

填充数</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>ros</em>之<em>Marker</em><em>Array</em><em>使用</em><em>使用</em><em>ros</em><em>中</em>的<em>marker</em> <em>array</em>来给点云画boundingbox。#include #include void ImageCloudFusion::get<em>Marker</em><em>Array</em>(const std::vector cluster_cloud_v,visualization_msgs::<em>Marker</em><em>Array</em>&amp; <em>marker</em>_<em>array</em>){if (cl...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em>自学实践(12)：visualization_msg消息<em>中</em><em>Marker</em><em>Array</em>示例</div>
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				<div class="desc ellipsis-online ellipsis-online-1">1.前言
在<em>ROS</em><em>中</em>经常需要在<em>rviz</em><em>中</em>输出各种结果的图像，例如在路径规划过程<em>中</em>的所有搜索过的栅格进行显示，展示出路径搜索的效率。这里将代码附在下面，方便以后查阅。
2.代码示例
#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;visualization_msgs/<em>Marker</em>.h&gt;
#include &lt;visualization_msgs/<em>Marker</em><em>Array</em>.h&gt;
#include &lt;iostream&gt;
int main(int argc,</div>
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